Aiming a Turret using Vision and an IMU/Gyro

[btcshields6]

This is sort of similar to dubiousSwain's earlier post, but less technical, and with slightly different mechanics.

My team is considering using a rotating turret-like shooter, which aims (autonomously) using vision targeting (the shooter turns, not the robot). After reading through dubiousSwain's post, I wonder if it would be better to use the camera to identify the target's distance and angular displacement, and use an IMU/Gyro to correct the angle. I don't know how that would work. I also don't know much about PID, which I saw mentioned. Does this seem like a reasonable plan?

Just so you know, we're trying to decide between these two sensors for IMU/Gyro: BNO055 or ADXRS450 (we're also open to the navX if anyone recommends that).

Thanks,

Benjamin

[Greg McKaskle]

When you are trying to measure an angle change between two elements of your robot, you can generally use a potentiometer or an encoder. Since the robot isn't attached to the field, that is harder and requires a gyro or IMU giving gyro values.

If both robot and turret are in motion, then you have to take both into account.

Greg McKaskle

[btcshields6]

Thanks. Looking into it tomorrow. A few new sensors we ordered showed up today. I'll try and figure out exactly what we're going to use.